CN105589558A - Virtual reality helmet burden alleviation servo system and method based on surface electromyogram signal - Google Patents
Virtual reality helmet burden alleviation servo system and method based on surface electromyogram signal Download PDFInfo
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- CN105589558A CN105589558A CN201510870466.1A CN201510870466A CN105589558A CN 105589558 A CN105589558 A CN 105589558A CN 201510870466 A CN201510870466 A CN 201510870466A CN 105589558 A CN105589558 A CN 105589558A
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- flexible cable
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- motion detection
- servo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- A—HUMAN NECESSITIES
- A42—HEADWEAR
- A42B—HATS; HEAD COVERINGS
- A42B3/00—Helmets; Helmet covers ; Other protective head coverings
- A42B3/04—Parts, details or accessories of helmets
- A42B3/0406—Accessories for helmets
- A42B3/0433—Detecting, signalling or lighting devices
- A42B3/0466—Means for detecting that the user is wearing a helmet
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/011—Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
Abstract
The invention relates to a virtual reality helmet display burden alleviation servo system driven by a human body surface electromyogram signal and working steps. The system comprises a surface electromyogram detection unit installed on a neck, an upper mechanical platform, a data acquisition unit, a computer system and a burden alleviation servo control algorithm software system, wherein the inner periphery of the upper mechanical platform is evenly provided with six groups of flexible cable wire driving devices, and each group comprises a servo motor, a synchronous cog belt, a flexible cable idler wheel, a tension sensor and a flexible cable guide pulley, and the six flexible cable wires are connected with the helmet display through the six guide pulleys on the outer periphery of the upper platform. The virtual reality helmet display burden alleviation servo system has the characteristics that the independent characteristics of a bio-electricity signal and a traditional mechanical measurement signal are combined, head motion intention is estimated through the detection of a head and neck surface signal, an established myoelectricity-force model is used for estimating the stress of neck muscle, meanwhile, high-precision force control and position control can be realized through the six flexible cable wires in a joint space through the tension sensor and a motor position speed signal in the mechanism so as to realize burden alleviation and servo control for a helmet in a task space. The virtual reality helmet display burden alleviation servo system aims to lighten intrusion feeling and constraint feeling brought to a wearer due to the own weight of the helmet display and cable wires and improve immersion feeling for experiencing virtual reality environment. Meanwhile, the high-instantaneity and high-precision six-degree-of-freedom head motion information of the wearer is provided for the virtual reality system.
Description
Technical field
The present invention relates to a kind of interactive device of virtual demonstration, relate in particular to that to improve the helmet of virtual reality aobviousShow device.
Background technology
Helmet Mounted Display is the common equipment in virtual reality field, is mainly used in three tridimensional virtual scenesShow. The Helmet Mounted Display of high-resolution, high-contrast, the large angle of visual field is conventionally very heavy and volume is larger,The holding wire of display system and sensor is also more, and this just causes while wearing experiencer often handicapped,And Head and Neck is easy to fatigue, wear for a long time the feeling of immersion that can greatly affect virtual reality system, makeBecome the sharply decline of experience effect; Existing the ultrasonic of virtual implementing helmet or the electromagnetism head of applying to simultaneouslyMotion detection sensor, can be subject to the interference of external environment condition, causes accuracy to decline, and is difficult to meet virtualThe requirement that reality is mutual.
Granted patent (license CN101791159B) has proposed a kind of six-degree-of-freedom parallel connection mechanismHelmet servo system, utilizes servomotor to drive the six roots of sensation ball-screw in parallel of the connection helmet to realize the helmet aobviousShow the function of device Reduction of Students' Study Load, because its all driver part comprises motor, synchronous cog belt and ball-screwMechanism is all arranged in movement branched chain, causes moving component inertia very large, is difficult to reach wanting of quick responseAsk, the while is larger because the mode of the power of employing sensor detects time delay to head motoricity, uses againRigid structure, cannot carry out real-time servo motion to head movement fast, can affect the body of virtual realityTest effect.
Summary of the invention
The object of this invention is to provide and a kind ofly alleviate virtual reality experiencer and wear Helmet Mounted Display loadDevice and method, thus the comfort level while roaming improved in virtual environment, strengthen immersing of virtual realitySense; Utilize measurement mechanism in system to follow the tracks of experiencer's head movement position simultaneously, for virtual realityWhat comes into a driver's environment provides motion feedback information.
The present invention for achieving the above object, adopts following technical scheme:
The virtual implementing helmet Reduction of Students' Study Load system driving based on surface electromyogram signal, is characterized in that comprising flexible cableDriving and motion detection unit, upper mounting plate, flexible cable pilot unit, controllable extensible flexible cable, surperficial fleshElectrical measurement unit, data acquisition unit, control computer and the Reduction of Students' Study Load control based on surface myoelectric information feedbackAlgorithm processed. Upper mounting plate hexagonal structure disposed inboard is installed six groups of flexible cables and is driven and motion detection unit, softRope pilot unit is installed on upper mounting plate hexagonal structure inner side and outside, and flexible cable is through driving and motion detection listUnit draws, and is connected with Helmet Mounted Display by flexible cable pilot unit; Flexible cable driving and motion detection unitThe input of signal output part and surface myoelectric measuring unit and the signal input part of data acquisition unitBe connected, the signal output part of data acquisition unit is connected with the signal input part of motor servo driverConnect; Data acquisition unit is connected with control computer.
Flexible cable of the present invention drives and motion detection unit comprises servomotor, synchronous cog belt, cornerWith speed probe, flexible cable roller bearing, flexible cable pulling force sensor and flexible cable directive wheel. Servomotor, rotating speedConnected in series on installing hole with rotary angle transmitter, servomotor and flexible cable roller bearing are arranged on motor-driven peaceOn dress support, be connected with synchronous cog belt driving wheel by synchronous cog belt, synchronous cog belt passes throughSynchronous cog belt stop carries out spacing, and flexible cable 180 degree on roller bearing are walked around on pulling force sensor in the other directionThe flexible cable directive wheel of installing, by upper mounting plate structural member and flexible cable pilot unit.
Flexible cable pilot unit of the present invention comprises by installing hole (20) and is arranged on upper mounting plate (2) hexagonThe directive wheel (16) of shape structure inner side and the directive wheel (15) in outside.
Reduction of Students' Study Load control algolithm based on surface myoelectric information feedback of the present invention is installed on control computer, logicalCross power-electromyographic signal model of setting up based on neutral net, real-time estimation goes out the motion force and moment of head,In conjunction with flexible cable movable information and the pulling force information of sensor output in flexible cable driving and motion detection unit, withThe head load that optimization alleviates wearer is target, calculates in flexible cable driving and motion detection unit and drivesThe input voltage signal of servomotor.
The present invention adopts technique scheme, and compared with prior art tool has the following advantages:
The helmet Reduction of Students' Study Load system that the present invention proposes is to utilize surface EMG detection and six-freedom parallelFlexible cable mechanism is realized. The beneficial effect of this system has three: the one, and employing wearer's Head and Neck myoelectricitySignal is as head force feedback, and due to before electromyographic signal builds on head movement, time delay is very low, canThe calculating of real-time implementation helmet Reduction of Students' Study Load algorithm, allows wearer feel zero gravity and constraint sense; The 2nd, adopt alsoConnection flexible cable mechanism can reduce the inertia of moving component greatly, has further improved the real-time of executing agencyProperty, all drive units are all fixed on upper mounting plate without movement simultaneously, and Helmet Mounted Display installation sideJust, only need to be connected with flexible cable; The 3rd, system can be by the movable information of flexible cable in joint spaceMeasure, six degree of freedom head movement position and attitude in task space are carried out to direct kinematics and resolve, energyReach very high stability and precision.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the top view that the helmet of the present invention shows Reduction of Students' Study Load servomechanism.
Fig. 3 is the structural representation of flexible cable driving of the present invention and motion detection unit and flexible cable pilot unit.
Fig. 4 is the structural representation that flexible cable roller bearing of the present invention is connected by synchronous cog belt with servomotor.
Fig. 5 is that flexible cable of the present invention is by the structural representation of pilot unit.
Fig. 6 is the structured flowchart that the present invention is based on the servo-actuated control algolithm of Reduction of Students' Study Load of surface myoelectric information feedback.
In figure: 1, flexible cable drives and motion detection unit, 2, upper mounting plate, 3, flexible cable pilot unit, 4,Controllable extensible flexible cable, 5, surface myoelectric measuring unit, 6, data acquisition unit, 7, control meterCalculation machine, 8, Helmet Mounted Display, 9, servomotor, 10, rotating speed and rotary angle transmitter, 11, flexible cable drawsPower sensor, 12, flexible cable roller bearing, 13, motor-driven mounting bracket, 14, flexible cable directive wheel, 15,Outer flexible cable directive wheel, 16, interior flexible cable directive wheel, 17, synchronous cog belt driving wheel, 18, synchronizing juggedBand, 19, synchronous cog belt stop, 20, installing hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is entered to describe in detail:
As depicted in figs. 1 and 2, the virtual implementing helmet Reduction of Students' Study Load system driving based on surface electromyogram signal,It is characterized in that comprising flexible cable drives and motion detection unit 1, upper mounting plate 2, flexible cable pilot unit 3, canControl telescopic flexible cable wire 4, surface myoelectric measuring unit 5, data acquisition unit 6, control computer 7And the Reduction of Students' Study Load control algolithm of feeding back based on surface myoelectric information. Upper mounting plate 2 hexagonal structure disposed inboard peacesFill six groups of flexible cables and drive and motion detection unit 1, flexible cable pilot unit 3 is installed on upper mounting plate 2 hexagonsStructure inner side and outside, flexible cable 4 is drawn through driving and motion detection unit 1, by flexible cable pilot unit3 are connected with Helmet Mounted Display 8; Signal output part and the surface of flexible cable driving and motion detection unit 1The input of myoelectricity measuring unit 5 is connected with the signal input part of data acquisition unit 6, data acquisitionThe signal output part of unit 6 is connected with the signal input part of servomotor 9 drivers; Data acquisition listUnit 6 is connected with control computer 7.
As shown in Figure 3 and Figure 4, flexible cable driving and motion detection unit comprise servomotor 9, synchronousCog belt 18, corner and speed probe 10, flexible cable roller bearing 12, flexible cable pulling force sensor 11 and flexible cableDirective wheel 14. Servomotor 9, rotating speed and rotary angle transmitter 10 are connected in series on installing hole, servoMotor 9 and flexible cable roller bearing 12 are arranged on motor-driven mounting bracket 13, by synchronous cog belt 18Be connected with synchronous cog belt driving wheel 17, synchronous cog belt 18 is by synchronous cog belt stop 19Carry out spacingly, the flexible cable 4 on roller bearing 12 walks around in the other direction by 180 degree install on pulling force sensor softRope directive wheel 14, by upper mounting plate 2 structural members and flexible cable pilot unit 3.
As shown in Figure 5, flexible cable pilot unit 3, comprises the directive wheel 16 of upper mounting plate hexagonal structure inner sideWith the directive wheel 15 in outside, connect by the installing hole 20 on upper mounting plate 2. Flexible cable 4 is from guidingHole in the middle of wheel is passed.
Surface myoelectric measuring unit 5 of the present invention comprises many group surface myoelectric electrodes, reference electrode and Duo TongRoad surface myoelectric information treatment facility. The step of extracting helmet wearer Head and Neck surface myoelectric information asUnder: put acquisition electrode at the muscular position that wearer's neck is corresponding, on ear-lobe, lay reference electrode,Multi-channel surface myoelectric messaging device amplifies shaping filter to the myoelectricity electric current obtaining on electrode,Signal after treatment is sent into data acquisition unit 6.
Data acquisition unit 6 of the present invention is mainly made up of data acquisition card or other signal acquisition circuit,Main collection and the transmission of being responsible for signal. Flexible cable drive and motion detection unit 1 in motor corner with turnSpeed sensor 10 signals, flexible cable pulling force sensor 11 signals, surface myoelectric measuring unit 5 signal linesBe connected with the data acquisition port of data acquisition unit 6, realize the collection of sensing data; Data acquisitionUnit 6 is directly installed on controls computer 7, realizes and control the data interaction between computer 7; DataThe data sending terminal mouth of collecting unit 6 connects by the control signal of signal line and servomotor 7 driversMouth connects, and realizes the transmission of control signal.
Control computer 7 of the present invention is made up of industrial control computer or other digital computer, mainBe responsible for real-time calculating, the flexible cable structure in parallel of the servo-actuated control algolithm of Reduction of Students' Study Load based on surface myoelectric information feedbackKinematics and dynamics resolve, system control and signal processing etc. The signal delay of this system is far littleIn the helmet tracker of current main-stream.
As Fig. 6, the structure of the servo-actuated control algolithm of Reduction of Students' Study Load based on surface myoelectric information feedback is as follows: set upThe neural network model of multiple-input and multiple-output, by corresponding myoelectric information and head movement information, at headHelmet wearer's head is organized under different motion speed and motor pattern model training more, obtains wearerHead movement myoelectricity-Li model, estimate in real time wearer's head movement power and power by this modelSquare; By detecting position and the rate signal of six servomotors, in conjunction with electromyographic signal, dope userHead movement pose, obtain branch's motion prediction information by contrary Jacobian matrixing, pass throughThe kinetic model of flexible cable in parallel, calculates the active force of headgear system in task space; Lighten the burden servo-actuatedThe control target of control system is the contact force minimum between head and the helmet, utilizes a helmet-power excellent alternatelyChange the mutual expected force that draws task space, then by the pulling force size in feedback six roots of sensation flexible cable and contraryJacobian matrix changes, and calculate and in task space, act on the effect force and moment on the helmet, withBetween mutual expected force, compare in real time, send corresponding voltage signal by control computer and output toThe servomotor that drives flexible cable, changes in real time flexible cable and acts on the pulling force on the helmet, so that wearer feelsIt is minimum that the constraint sense that the helmet brings and weight sense are reduced to, and headgear system can be free of a burdenly with wearer's headServo-actuated; The rotary angle transmitter of simultaneously installing on servomotor can obtain the stroke of every flexible cable, passes throughKinematics forward calculates, and can real-time resolving goes out the six-degree of freedom position and attitude information of head, for virtualWhat comes into a driver's is with the scene change of head movement.
Claims (4)
1. the virtual implementing helmet Reduction of Students' Study Load servomechanism driving based on surface electromyogram signal, is characterized in thatComprise flexible cable driving and motion detection unit (1), upper mounting plate (2), flexible cable pilot unit (3), controlledTelescopic flexible cable wire (4), surface myoelectric measuring unit (5), data acquisition unit (6), control are calculatedMachine (7) and the servo-actuated control algolithm of Reduction of Students' Study Load based on surface myoelectric information feedback. Upper mounting plate (2) hexagonStructure disposed inboard is installed six groups of flexible cables and is driven and motion detection unit (1), flexible cable pilot unit (3)Be installed on upper mounting plate (2) hexagonal structure inner side and outside, flexible cable (4) is through driving and motion detection listUnit (1) draws, and is connected with Helmet Mounted Display (8) by flexible cable pilot unit (3); Flexible cable drivesAnd the input of the signal output part of motion detection unit (1) and surface myoelectric measuring unit (5) withThe signal input part of data acquisition unit (6) is connected, the signal output part of data acquisition unit (6)Be connected with the signal input part of servomotor (9) driver; Data acquisition unit 6 calculates with controlThe signal input part of machine 7 is connected.
2. flexible cable driving according to claim 1 and motion detection unit (1) comprise servo electricityMachine (9), synchronous cog belt (18), corner and speed probe (10), flexible cable roller bearing (12), softRope pulling force sensor (11) and flexible cable directive wheel (14). Servomotor (9), rotating speed and rotation angular sensingDevice (10) is connected in series on installing hole, and servomotor (9) and flexible cable roller bearing (12) are arranged on electricityMachine transmission mounting bracket (13) is upper, by synchronous cog belt (18) and synchronous cog belt driving wheel (17)Connect, synchronous cog belt (18) is undertaken spacing by synchronous cog belt stop (19), roller bearing(12) flexible cable (4) 180 degree on are walked around the flexible cable directive wheel (14) of installing on pulling force sensor in the other direction,By upper mounting plate (2) structural member and flexible cable pilot unit (3).
3. flexible cable pilot unit according to claim 1 (3), comprises by installing hole (20)Be arranged on the directive wheel (16) of upper mounting plate (2) hexagonal structure inner side and the directive wheel (15) in outside.
4. the servo-actuated control algolithm of Reduction of Students' Study Load based on surface myoelectric information feedback according to claim 1Be installed on control computer, by setting up myoelectricity-force signal model, real-time estimation goes out the motoricity of headAnd moment, in conjunction with flexible cable movable information and the pulling force of sensor output in flexible cable driving and motion detection unitInformation, the head that alleviates wearer to optimize is loaded as target, calculates flexible cable and drives and motion detection listIn unit, drive the input voltage signal of servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510870466.1A CN105589558B (en) | 2015-11-25 | 2015-11-25 | Virtual reality helmet burden reduction follow-up system and method based on surface electromyographic signals |
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| CN201510870466.1A CN105589558B (en) | 2015-11-25 | 2015-11-25 | Virtual reality helmet burden reduction follow-up system and method based on surface electromyographic signals |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106112971A (en) * | 2016-07-14 | 2016-11-16 | 南京林业大学 | A kind of pedestal position of articulating point self-adjustable six degree of freedom incidence flexible exoskeleton system |
| CN108445764A (en) * | 2018-03-23 | 2018-08-24 | 吉林大学 | The Active Compliance Control strategy of Stewart platforms |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN113050282A (en) * | 2021-03-04 | 2021-06-29 | 北京幻鲸数字科技有限公司 | Virtual reality multi-person cooperation system and method based on 5G network |
| CN113524144A (en) * | 2021-06-15 | 2021-10-22 | 中国科学院自动化研究所 | Artificial muscle device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108445764B (en) * | 2018-03-23 | 2021-01-12 | 吉林大学 | Active compliance control strategy of Stewart platform |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN113050282A (en) * | 2021-03-04 | 2021-06-29 | 北京幻鲸数字科技有限公司 | Virtual reality multi-person cooperation system and method based on 5G network |
| CN113524144A (en) * | 2021-06-15 | 2021-10-22 | 中国科学院自动化研究所 | Artificial muscle device |
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| CN105589558B (en) | 2022-02-18 |
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